Double Pendulum on a Cart

Double Pendulum on a Cart
12 x point-to-point control and 4 x side-stepping

Two-degrees-of-freedom design:
Constrained feedforward & optimal feedback control


Done by Andreas Eder and Tobias Glück

[Quonchon]

This has to be the most beautiful thing i ever saw in my life

[Doppelkeks]

That's a permanent magnet synchronous maschine (PMSM) with an angular speed up to a maximum value of 3000 rpm. The angle resolution results in a position resolution of approximately 1/10 mm.

[TheoCallahan]

That is seriously impressive! Great job.

[FallenSkater]

the versatility of the violin amazes me

[wanchufri]

What a domain in classical mechanics and theory of control

[ManMachinist]

I could watch this all day long. Forget cat videos.

[gritcrit]

To this day, I"m still impressed by this!

What's the theoretical maximum of pendulums you can balance?
At what point does it become as hard as balancing a rope up?

[Doppelkeks]

There is just one motor actuating the toothed belt.

[Doppelkeks]

It's just a Ricatti controller. Simple state feedback with integral action.

[Doppelkeks]

The setup is actuated by just one motor!

[AhrkFinTey]

I can't even begin to imagine what the state space matrix for that looks like XD

[Buttons]

So this is what the machines will do after they eliminate all humans and get bored. "Well, there's no more humans, guess I'll just do some tricks with this pendulum..."

[peterboneg]

What are the weights of each pendulum? I guess that the bottom pendulum is heavier. Is control a lot more difficult if they're the same weight?

[bruce_yaz]

very nice state machine solving matrices

[peskarr]

That's why humanity will not have a chance.

[herbderbler]

I came here from a compilation of robots falling down. I was feeling a bit better about humanity's chances in the artificial intelligence uprising, but now I'm back to thinking we're probably screwed.

[victoryu]

How did you send signal and power to the second pendulum encoder without the wire getting caught?

[venkatasubbaraosutrave]

I am working on it so can you guide me on this .? and you have done an awesome job my friend brilliant

[Gunbudder]

control systems porn. hard to believe this video was making the rounds before i even became an engineer lol

[gilleshim]

amazing. The white cable must be connected to mesure the 2 angles. I was wondering, what sensor are you using to mesure the angular position ?